version: 66.04
glider: 105
mission: 6
dive: 115
start: 7 1 109 14 54 9
data:
$ID,105
$MISSION,6
$DIVE,115
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1630095.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,144407,6316.016,-1335.775,34,1.0,35,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.8
$GPS2,145349,6315.979,-1335.757,10,1.5,15,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,JE
$TGT_LATLONG,6305.000,-1325.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,168.6,22244,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-58.95,0.000,6,0.000,0.000,396,2262,3432
$GC,82,-0.96,-146.6,5.2,-10.0,3,99,11.73,0.00,0.00,0.000,6,0.130,0.000,2583,2262,3433
$GC,409,-0.96,-146.6,40.5,-8.3,19,414,0.00,2.50,0.00,0.000,4,0.000,0.054,2582,3643,3434
$GC,437,-0.96,-146.6,43.4,-10.1,20,441,0.00,2.40,0.00,0.000,6,0.000,0.027,2583,2229,3434
$GC,753,-0.96,-146.6,73.8,-9.9,35,757,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3645,3435
$GC,846,-0.96,-146.6,84.2,-10.8,39,851,0.00,2.38,0.00,0.000,6,0.000,0.027,2582,2241,3434
$GC,1162,-0.96,-146.6,114.6,-8.5,54,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2241,3435
$GC,1473,-0.96,-146.6,136.1,-6.6,69,1477,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3645,3435
$GC,1670,-0.96,-146.6,150.3,-7.4,78,1675,0.00,2.40,0.00,0.000,6,0.000,0.028,2582,2251,3435
$GC,2002,-0.96,-146.6,171.2,-5.7,94,2006,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3647,3435
$GC,2086,-0.96,-146.6,176.6,-7.1,98,2090,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2240,3435
$GC,2412,-0.96,-146.6,195.7,-6.0,114,2417,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3650,3435
$GC,2475,-0.96,-146.6,199.8,-6.6,117,2481,0.00,2.40,0.00,0.000,6,0.000,0.028,2583,2253,3435
$GC,2808,-0.96,-146.6,220.6,-6.3,133,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2253,3435
$GC,3119,-0.96,-146.6,241.3,-6.8,148,3123,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3650,3434
$GC,3209,-0.96,-146.6,248.5,-7.6,152,3213,0.00,2.38,0.00,0.000,6,0.000,0.028,2582,2246,3434
$GC,3532,-0.96,-146.6,272.7,-7.9,168,3536,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3642,3434
$GC,3587,-0.96,-146.6,277.4,-8.1,170,3593,0.00,2.35,0.00,0.000,6,0.000,0.028,2583,2250,3434
$GC,3904,-0.96,-146.6,302.8,-8.1,186,3908,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3648,3434
$GC,3970,-0.96,-146.6,308.9,-9.3,189,3974,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2245,3434
$GC,4291,-0.96,-146.6,336.0,-8.6,205,4295,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3642,3433
$GC,4346,-0.96,-146.6,340.9,-8.8,207,4352,0.00,2.35,0.00,0.000,6,0.000,0.028,2582,2253,3434
$GC,4662,-0.96,-146.6,364.9,-7.0,223,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3433
$GC,4971,-0.96,-146.6,384.3,-6.0,238,4975,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3649,3433
$GC,5071,-0.96,-146.6,390.7,-6.2,242,5077,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2245,3433
$GC,5387,-0.96,-146.6,408.5,-5.8,258,5391,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3642,3432
$GC,5442,-0.96,-146.6,411.9,-6.5,260,5448,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,2239,3433
$GC,5759,-0.96,-146.6,430.3,-5.8,276,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2238,3432
$GC,6068,-0.96,-146.6,447.1,-5.6,291,6072,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3641,3432
$GC,6156,-0.96,-146.6,453.0,-6.9,295,6161,0.00,2.35,0.00,0.000,6,0.000,0.028,2582,2255,3432
$GC,6479,-0.96,-146.6,474.0,-6.6,311,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2254,3432
$GC,6787,-0.96,-146.6,492.9,-6.2,326,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2254,3432
$GC,7099,-0.96,-146.6,512.4,-6.6,341,7103,0.00,2.50,0.00,0.000,4,0.000,0.054,2583,3643,3432
$GC,7148,-0.96,-146.6,516.3,-7.7,343,7153,0.00,2.38,0.00,0.000,6,0.000,0.028,2582,2242,3432
$GC,7464,-0.96,-146.6,537.2,-6.6,358,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2242,3432
$GC,7774,-0.96,-146.6,558.7,-7.1,373,7778,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3651,3431
$GC,7853,-0.96,-146.6,565.0,-8.4,376,7859,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2255,3431
$GC,8168,-0.96,-146.6,588.2,-7.3,392,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2254,3431
$GC,8478,-0.96,-146.6,610.0,-7.0,407,8482,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3650,3431
$GC,8540,-0.96,-146.6,614.6,-7.4,410,8544,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2248,3431
$GC,8867,-0.96,-146.6,636.1,-6.4,426,8871,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3644,3431
$GC,8906,-0.96,-146.6,638.7,-7.3,428,8910,0.00,2.38,0.00,0.000,6,0.000,0.030,2582,2249,3431
$GC,9232,-0.96,-146.6,659.1,-6.1,444,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3431
$GC,9541,-0.96,-146.6,678.5,-6.4,459,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3431
$GC,9853,-0.96,-146.6,699.0,-6.8,474,9857,0.00,2.53,0.00,0.000,4,0.000,0.055,2582,3642,3431
$GC,9902,-0.96,-146.6,702.8,-7.2,476,9906,0.00,2.38,0.00,0.000,6,0.000,0.030,2582,2250,3431
$GC,10221,-0.96,-146.6,724.7,-6.7,491,10226,0.00,2.53,0.00,0.000,4,0.000,0.055,2583,3644,3431
$GC,10293,-0.96,-146.6,730.4,-7.7,494,10298,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2252,3431
$GC,10619,-0.96,-146.6,753.1,-6.8,510,10623,0.00,2.53,0.00,0.000,4,0.000,0.055,2582,3650,3431
$GC,10681,-0.96,-146.6,757.6,-8.4,513,10685,0.00,2.38,0.00,0.000,6,0.000,0.030,2582,2252,3430
$GC,11009,-0.96,-146.6,780.2,-6.9,529,11014,0.00,2.53,0.00,0.000,4,0.000,0.055,2582,3650,3430
$GC,11104,-0.96,-146.6,787.2,-6.9,533,11108,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2241,3430
$GC,11420,-0.96,-146.6,807.5,-6.7,548,11425,0.00,2.58,0.00,0.000,4,0.000,0.057,2583,3641,3430
$GC,11537,-0.96,-146.6,815.3,-6.3,553,11541,0.00,2.38,0.00,0.000,6,0.000,0.031,2582,2255,3430
$GC,11858,-0.96,-146.6,835.5,-6.5,569,11862,0.00,2.45,0.00,0.000,4,0.000,0.044,2583,849,3430
$GC,11898,-0.96,-146.6,838.2,-6.8,571,11903,0.00,2.42,0.00,0.000,6,0.000,0.038,2582,2243,3430
$GC,12225,-0.96,-146.6,857.9,-5.7,587,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2243,3430
$GC,12535,-0.96,-146.6,874.1,-5.3,602,12539,0.00,2.55,0.00,0.000,4,0.000,0.058,2583,3652,3429
$GC,12562,-0.96,-146.6,875.8,-5.8,603,12566,0.00,2.42,0.00,0.000,6,0.000,0.033,2582,2240,3429
$GC,12880,-0.96,-146.6,893.1,-5.4,618,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2240,3429
$GC,13187,-0.96,-146.6,909.9,-5.7,633,13191,0.00,2.58,0.00,0.000,4,0.000,0.059,2583,3651,3429
$GC,13295,-0.96,-146.6,915.6,-5.2,638,13300,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2258,3429
$GC,13627,-0.96,-146.6,936.5,-5.2,654,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2258,3428
$GC,13939,-0.96,-146.6,951.6,-5.5,669,13943,0.00,2.55,0.00,0.000,4,0.000,0.059,2583,3654,3427
$GC,14062,-0.96,-146.6,958.2,-5.3,674,14069,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2254,3427
$GC,14378,-0.96,-146.6,975.6,-5.6,690,14382,0.00,2.50,0.00,0.000,4,0.000,0.049,2583,839,3427
$GC,14431,-0.96,-146.6,978.9,-7.1,692,14435,0.00,2.47,0.00,0.000,6,0.000,0.040,2583,2250,3427
$STATE,14620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14620,begin apogee
$GC,14629,-0.36,0.0,991.2,6.5,701,14764,0.65,0.00,131.02,1.420,6,0.064,0.000,2723,1452,2832
$STATE,14765,end apogee,CONTROL_FINISHED_OK
$STATE,14765,begin climb
$GC,14767,0.96,146.6,996.0,0.0,708,14908,1.30,2.22,132.85,1.378,4,0.052,0.062,3008,268,2233
$GC,15001,0.99,168.6,988.0,5.4,718,15026,0.00,2.08,20.42,1.285,6,0.000,0.037,3008,1472,2144
$GC,15350,1.02,190.3,967.7,5.4,735,15372,0.00,0.00,20.45,1.297,6,0.000,0.000,3008,1472,2056
$GC,15680,1.02,190.3,948.4,6.5,751,15684,0.00,2.47,0.00,0.000,4,0.000,0.049,3008,2851,2050
$GC,15741,1.02,190.3,944.0,6.6,754,15746,0.00,2.47,0.00,0.000,6,0.000,0.041,3008,1449,2050
$GC,16069,1.02,190.3,919.5,7.3,770,16073,0.00,2.53,0.00,0.000,4,0.000,0.048,3008,2850,2049
$GC,16113,1.02,190.3,916.2,6.6,772,16117,0.00,2.47,0.00,0.000,6,0.000,0.041,3007,1448,2049
$GC,16435,1.02,190.3,893.1,7.5,788,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1448,2048
$GC,16742,1.02,190.3,871.7,6.6,803,16746,0.00,2.50,0.00,0.000,4,0.000,0.048,3008,2848,2047
$GC,16797,1.02,190.3,868.2,6.3,805,16804,0.00,2.45,0.00,0.000,6,0.000,0.040,3008,1454,2047
$GC,17115,1.02,190.3,848.7,6.3,821,17117,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1454,2047
$GC,17423,1.02,190.3,828.4,6.7,836,17428,0.00,2.50,0.00,0.000,4,0.000,0.046,3008,2857,2047
$GC,17468,1.02,190.3,825.3,6.7,838,17472,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1451,2046
$GC,17788,1.03,201.2,806.6,5.7,854,17803,0.00,2.55,9.57,1.157,4,0.000,0.046,3008,2856,2011
$GC,17865,1.03,201.2,802.3,6.1,856,17871,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1453,2010
$GC,18180,1.04,207.1,784.6,5.8,872,18194,0.00,2.53,7.20,1.069,4,0.000,0.044,3008,2855,1986
$GC,18270,1.06,226.1,779.5,5.5,876,18295,0.10,2.47,19.12,1.230,6,0.047,0.037,3059,1448,1910
$GC,18624,1.06,226.1,750.5,8.9,893,18629,0.15,2.15,0.00,0.000,4,0.075,0.057,3027,259,1906
$GC,18643,1.06,226.1,748.7,9.1,894,18647,0.00,2.05,0.00,0.000,6,0.000,0.035,3027,1460,1906
$GC,18975,1.06,226.1,725.3,6.5,910,18980,0.00,2.47,0.00,0.000,4,0.000,0.046,3027,2852,1906
$GC,19032,1.06,226.1,721.7,6.5,912,19038,0.00,2.45,0.00,0.000,6,0.000,0.037,3027,1447,1906
$GC,19347,1.06,226.1,701.1,6.6,928,19352,0.00,2.53,0.00,0.000,4,0.000,0.044,3027,2860,1905
$GC,19375,1.06,226.1,699.2,6.8,929,19379,0.00,2.47,0.00,0.000,6,0.000,0.036,3027,1446,1906
$GC,19690,1.06,226.1,676.3,7.4,944,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1447,1905
$GC,20000,1.06,226.1,653.4,7.2,959,20004,0.00,2.53,0.00,0.000,4,0.000,0.044,3027,2851,1906
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$STATE,28533,end climb,SURFACE_DEPTH_REACHED
$STATE,28533,begin surface coast
$FINISH,0.2,1.002513
$STATE,28577,end surface coast,CONTROL_FINISHED_OK
$STATE,28577,begin surface
$SM_CCo,28601,37.80,0.756,0,0,1608,300.00
$SM_GC,1.24,0.00,0.00,37.80,0.000,0.000,0.756,386,2247,1608,-11.10,-0.08,300.00
$IRIDIUM_FIX,6249.28,-1334.39,250998,141411
$TT8_MAMPS,0.027612
$HUMID,1817
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.1,35.136
$10V_AH,10.1,17.707
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.300,286.800,353.750,37.800,0.000,63.275,70.317,239.917,8.500,0.000,0.000,17.257,2563.607,21852.486,589.957,3000.462,1202.903,0.000,2169.223,0.000,3231.138,0.000,55.986,0.000
$DEVICE_MAMPS,130.390,62.127,1419.717,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.913,1075.151,728.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69322,1374
$CAP_FILE_SIZE,214282,0
$CFSIZE,260165632,250232832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,010709,225237,6311.159,-1335.615,28,1.1,28,-12.4